Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

4 files changed, 1420 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelAABB/include/BpAABBManagerTasks.h b/PhysX_3.4/Source/LowLevelAABB/include/BpAABBManagerTasks.h
new file mode 100644
index 00000000..2ff814db
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevelAABB/include/BpAABBManagerTasks.h
@@ -0,0 +1,107 @@
+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+#ifndef BP_AABB_MANAGER_TASKS_H
+#define BP_AABB_MANAGER_TASKS_H
+
+#include "PsUserAllocated.h"
+#include "CmTask.h"
+
+namespace physx
+{
+	class PxcScratchAllocator;
+namespace Bp
+{
+	class SimpleAABBManager;
+	class Aggregate;
+
+	class AggregateBoundsComputationTask : public Cm::Task, public shdfnd::UserAllocated
+	{
+		public:
+										AggregateBoundsComputationTask() :
+											mManager	(NULL),
+											mStart		(0),
+											mNbToGo		(0),
+											mAggregates	(NULL)
+										{}
+										~AggregateBoundsComputationTask()	{}
+
+		virtual const char*				getName() const { return "AggregateBoundsComputationTask"; }
+		virtual void					runInternal();
+
+				void					Init(SimpleAABBManager* manager, PxU32 start, PxU32 nb, Aggregate** aggregates)
+										{
+											mManager	= manager;
+											mStart		= start;
+											mNbToGo		= nb;
+											mAggregates	= aggregates;
+										}
+		private:
+				SimpleAABBManager*		mManager;
+				PxU32					mStart;
+				PxU32					mNbToGo;
+				Aggregate**				mAggregates;
+
+		AggregateBoundsComputationTask& operator=(const AggregateBoundsComputationTask&);
+	};
+
+	class FinalizeUpdateTask : public Cm::Task, public shdfnd::UserAllocated
+	{
+		public:
+										FinalizeUpdateTask() :
+											mManager				(NULL),
+											mNumCpuTasks			(0),
+											mScratchAllocator		(NULL),
+											mNarrowPhaseUnlockTask	(NULL)
+										{}
+										~FinalizeUpdateTask()	{}
+
+		virtual const char*				getName() const { return "FinalizeUpdateTask"; }
+		virtual void					runInternal();
+
+				void					Init(SimpleAABBManager* manager, PxU32 numCpuTasks, PxcScratchAllocator* scratchAllocator, PxBaseTask* narrowPhaseUnlockTask)
+										{
+											mManager				= manager;
+											mNumCpuTasks			= numCpuTasks;
+											mScratchAllocator		= scratchAllocator;
+											mNarrowPhaseUnlockTask	= narrowPhaseUnlockTask;
+										}
+		private:
+				SimpleAABBManager*		mManager;
+				PxU32					mNumCpuTasks;
+				PxcScratchAllocator*	mScratchAllocator;
+				PxBaseTask*				mNarrowPhaseUnlockTask;
+
+		FinalizeUpdateTask& operator=(const FinalizeUpdateTask&);
+	};
+
+}
+} //namespace physx
+
+#endif // BP_AABB_MANAGER_TASKS_H
diff --git a/PhysX_3.4/Source/LowLevelAABB/include/BpBroadPhase.h b/PhysX_3.4/Source/LowLevelAABB/include/BpBroadPhase.h
new file mode 100644
index 00000000..25990f57
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevelAABB/include/BpBroadPhase.h
@@ -0,0 +1,336 @@
+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+
+#ifndef BP_BROADPHASE_H
+#define BP_BROADPHASE_H
+
+#include "foundation/PxUnionCast.h"
+#include "PxBroadPhase.h"
+#include "BpSimpleAABBManager.h"
+
+namespace physx
+{
+class PxcScratchAllocator;
+
+namespace Bp
+{
+
+class BroadPhaseUpdateData;
+class BPMemoryAllocator;
+
+
+/**
+\brief Base broad phase class.  Functions only relevant to MBP.
+*/
+class BroadPhaseBase
+{
+	public:
+									BroadPhaseBase()						{}
+	virtual							~BroadPhaseBase()						{}
+
+	/**
+	\brief Gets broad-phase caps.
+
+	\param[out]	caps	Broad-phase caps
+	\return True if success
+	*/
+	virtual	bool					getCaps(PxBroadPhaseCaps& caps)			const 
+	{
+		caps.maxNbRegions = 0;
+		caps.maxNbObjects = 0;
+		caps.needsPredefinedBounds = false;
+		return true;
+	}
+
+	/**
+	\brief Returns number of regions currently registered in the broad-phase.
+
+	\return Number of regions
+	*/
+	virtual	PxU32					getNbRegions()							const 
+	{
+		return 0;	
+	}
+
+	/**
+	\brief Gets broad-phase regions.
+
+	\param[out]	userBuffer	Returned broad-phase regions
+	\param[in]	bufferSize	Size of userBuffer
+	\param[in]	startIndex	Index of first desired region, in [0 ; getNbRegions()[
+	\return Number of written out regions
+	*/
+	virtual	PxU32					getRegions(PxBroadPhaseRegionInfo* userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const
+	{
+		PX_UNUSED(userBuffer);
+		PX_UNUSED(bufferSize);
+		PX_UNUSED(startIndex);
+		return 0;
+	}
+
+	/**
+	\brief Adds a new broad-phase region.
+
+	The bounds for the new region must be non-empty, otherwise an error occurs and the call is ignored.
+
+	The total number of regions is limited to 256. If that number is exceeded, the call is ignored.
+
+	The newly added region will be automatically populated with already existing SDK objects that touch it, if the
+	'populateRegion' parameter is set to true. Otherwise the newly added region will be empty, and it will only be
+	populated with objects when those objects are added to the simulation, or updated if they already exist.
+
+	Using 'populateRegion=true' has a cost, so it is best to avoid it if possible. In particular it is more efficient
+	to create the empty regions first (with populateRegion=false) and then add the objects afterwards (rather than
+	the opposite).
+
+	Objects automatically move from one region to another during their lifetime. The system keeps tracks of what
+	regions a given object is in. It is legal for an object to be in an arbitrary number of regions. However if an
+	object leaves all regions, or is created outside of all regions, several things happen:
+		- collisions get disabled for this object
+		- if a PxBroadPhaseCallback object is provided, an "out-of-bounds" event is generated via that callback
+		- if a PxBroadPhaseCallback object is not provided, a warning/error message is sent to the error stream
+
+	If an object goes out-of-bounds and user deletes it during the same frame, neither the out-of-bounds event nor the
+	error message is generated.
+
+	If an out-of-bounds object, whose collisions are disabled, re-enters a valid broadphase region, then collisions
+	are re-enabled for that object.
+
+	\param[in]	region			User-provided region data
+	\param[in]	populateRegion	True to automatically populate the newly added region with existing objects touching it
+
+	\return Handle for newly created region, or 0xffffffff in case of failure.
+	*/
+	virtual	PxU32					addRegion(const PxBroadPhaseRegion& region, bool populateRegion)
+	{
+		PX_UNUSED(region);
+		PX_UNUSED(populateRegion);
+		return 0xffffffff;	
+	}
+
+	/**
+	\brief Removes a new broad-phase region.
+
+	If the region still contains objects, and if those objects do not overlap any region any more, they are not
+	automatically removed from the simulation. Instead, the PxBroadPhaseCallback::onObjectOutOfBounds notification
+	is used for each object. Users are responsible for removing the objects from the simulation if this is the
+	desired behavior.
+
+	If the handle is invalid, or if a valid handle is removed twice, an error message is sent to the error stream.
+
+	\param[in]	handle	Region's handle, as returned by PxScene::addBroadPhaseRegion.
+	\return True if success
+	*/
+	virtual	bool					removeRegion(PxU32 handle)	
+	{
+		PX_UNUSED(handle);
+		return false;	
+	}
+
+	/*
+	\brief Return the number of objects that are not in any region.
+	*/
+	virtual	PxU32						getNbOutOfBoundsObjects()	const	
+	{ 
+		return 0;						
+	}
+
+	/*
+	\brief Return an array of objects that are not in any region.
+	*/
+	virtual	const PxU32*				getOutOfBoundsObjects()		const	
+	{ 
+		return NULL;					
+	}
+};
+
+
+/*
+\brief Structure used to report created and deleted broadphase pairs
+\note The indices mVolA and mVolB correspond to the bounds indices 
+BroadPhaseUpdateData::mCreated used by BroadPhase::update
+@see BroadPhase::getCreatedPairs, BroadPhase::getDeletedPairs
+*/
+struct BroadPhasePair
+{
+	BroadPhasePair(ShapeHandle volA, ShapeHandle volB, void* userData)
+	{
+		mVolA=PxMin(volA,volB);
+		mVolB=PxMax(volA,volB);
+		mUserData = userData;
+	}
+	BroadPhasePair()
+		: mVolA(BP_INVALID_BP_HANDLE),
+		  mVolB(BP_INVALID_BP_HANDLE),
+		  mUserData(NULL)
+	{
+	}
+
+	ShapeHandle		mVolA;		// NB: mVolA < mVolB
+	ShapeHandle		mVolB;
+	void*			mUserData;
+};
+
+struct BroadPhasePairReport : public BroadPhasePair
+{
+	PxU32 mHandle;
+
+	BroadPhasePairReport(ShapeHandle volA, ShapeHandle volB, void* userData, PxU32 handle) : BroadPhasePair(volA, volB, userData),  mHandle(handle)
+	{
+	}
+
+	BroadPhasePairReport() : BroadPhasePair(), mHandle(BP_INVALID_BP_HANDLE)
+	{
+	}
+};
+
+
+class BroadPhase : public BroadPhaseBase
+{
+public:
+
+	virtual	PxBroadPhaseType::Enum	getType() const = 0;
+
+	/**
+	\brief Instantiate a BroadPhase instance.
+	\param[in] bpType - the bp type (either mbp or sap).  This is typically specified in PxSceneDesc. 
+	\param[in] maxNbRegions is the expected maximum number of broad-phase regions.
+	\param[in] maxNbBroadPhaseOverlaps is the expected maximum number of broad-phase overlaps.
+	\param[in] maxNbStaticShapes is the expected maximum number of static shapes.
+	\param[in] maxNbDynamicShapes is the expected maximum number of dynamic shapes.
+	\param[in] contextID is the context ID parameter sent to the profiler
+	\return The instantiated BroadPhase.
+	\note maxNbRegions is only used if mbp is the chosen broadphase (PxBroadPhaseType::eMBP)
+	\note maxNbRegions, maxNbBroadPhaseOverlaps, maxNbStaticShapes and maxNbDynamicShapes are typically specified in PxSceneLimits
+	*/
+	static BroadPhase* create(
+		const PxBroadPhaseType::Enum bpType,
+		const PxU32 maxNbRegions,
+		const PxU32 maxNbBroadPhaseOverlaps,
+		const PxU32 maxNbStaticShapes,
+		const PxU32 maxNbDynamicShapes,
+		PxU64 contextID);
+
+
+	/**
+	\brief Shutdown of the broadphase.
+	*/
+	virtual	void							destroy() = 0;
+
+	/**
+	\brief Update the broadphase and compute the lists of created/deleted pairs.
+
+	\param[in] numCpuTasks the number of cpu tasks that can be used for the broadphase update.
+	
+	\param[in] scratchAllocator - a PxcScratchAllocator instance used for temporary memory allocations.
+	This must be non-null.
+
+	\param[in] updateData a description of changes to the collection of aabbs since the last broadphase update.
+	The changes detail the indices of the bounds that have been added/updated/removed as well as an array of all
+	bound coordinates and an array of group ids used to filter pairs with the same id.
+	@see BroadPhaseUpdateData
+
+	\param[in] continuation the task that is in the queue to be executed immediately after the broadphase has completed its update. NULL is not supported.
+	\param[in] nPhaseUnlockTask this task will have its ref count decremented when it is safe to permit NP to run in parallel with BP. NULL is supported.
+
+	\note In PX_CHECKED and PX_DEBUG build configurations illegal input data (that does not conform to the BroadPhaseUpdateData specifications) triggers 
+	a special code-path that entirely bypasses the broadphase and issues a warning message to the error stream.  No guarantees can be made about the 
+	correctness/consistency of broadphase behavior with illegal input data in PX_RELEASE and PX_PROFILE configs because validity checks are not active 
+	in these builds.
+	*/
+
+	virtual	void					update(const PxU32 numCpuTasks, PxcScratchAllocator* scratchAllocator, const BroadPhaseUpdateData& updateData, physx::PxBaseTask* continuation, physx::PxBaseTask* nPhaseUnlockTask) = 0;
+
+	/*
+	\brief Return the number of created aabb overlap pairs computed in the execution of update() that has just completed.
+	*/
+	virtual	PxU32					getNbCreatedPairs()		const	= 0;
+
+	/*
+	\brief Return the array of created aabb overlap pairs computed in the execution of update() that has just completed.
+	Note that each overlap pair is reported only on the frame when the overlap first occurs. The overlap persists
+	until the pair appears in the list of deleted pairs or either of the bounds in the pair is removed from the broadphase.  
+	A created overlap must involve at least one of the bounds of the overlap pair appearing in either the created or updated list.
+	It is impossible for the same pair to appear simultaneously in the list of created and deleted overlap pairs.
+	An overlap is defined as a pair of bounds that overlap on all three axes; that is when maxA > minB and maxB > minA for all three axes. 
+	The rule that minima(maxima) are even(odd) (see BroadPhaseUpdateData) removes the ambiguity of touching bounds. 
+
+	*/
+	virtual	BroadPhasePairReport*			getCreatedPairs()					= 0;
+
+	/**
+	\brief Return the number of deleted overlap pairs computed in the execution of update() that has just completed.
+	*/
+	virtual	PxU32					getNbDeletedPairs()		const	= 0;
+
+	/**
+	\brief Return the number of deleted overlap pairs computed in the execution of update() that has just completed.
+	Note that a deleted pair can only be reported if that pair has already appeared in the list of created pairs in an earlier update.
+	A lost overlap occurs when a pair of bounds previously overlapped on all three axes but have now separated on at least one axis.
+	A lost overlap must involve at least one of the bounds of the lost overlap pair appearing in the updated list.
+	Lost overlaps arising from removal of bounds from the broadphase do not appear in the list of deleted pairs.
+	It is impossible for the same pair to appear simultaneously in the list of created and deleted pairs.
+	The test for overlap is conservative throughout, meaning that deleted pairs do not include touching pairs.
+	*/
+	virtual	BroadPhasePairReport*			getDeletedPairs()					= 0;
+
+	/**
+	\brief After the broadphase has completed its update() function and the created/deleted pairs have been queried
+	with getCreatedPairs/getDeletedPairs it is desirable to free any memory that was temporarily acquired for the update but is 
+	is no longer required post-update.  This can be achieved with the function freeBuffers().
+	*/
+	virtual	void					freeBuffers()						= 0;
+
+	/**
+	\brief Adjust internal structures after all bounds have been adjusted due to a scene origin shift.
+	*/
+	virtual void					shiftOrigin(const PxVec3& shift) = 0;
+
+	/**
+	\brief Test that the created/updated/removed lists obey the rules that 
+	1. object ids can only feature in the created list if they have never been previously added or if they were previously removed.
+	2. object ids can only be added to the updated list if they have been previously added without being removed.
+	3. objects ids can only be added to the removed list if they have been previously added without being removed.
+	*/
+#if PX_CHECKED
+	virtual bool					isValid(const BroadPhaseUpdateData& updateData) const = 0;
+#endif
+
+	virtual BroadPhasePair*				getBroadPhasePairs() const = 0;
+
+	virtual void						deletePairs() = 0;
+
+};
+
+} //namespace Bp
+
+} //namespace physx
+
+#endif //BP_BROADPHASE_H
diff --git a/PhysX_3.4/Source/LowLevelAABB/include/BpBroadPhaseUpdate.h b/PhysX_3.4/Source/LowLevelAABB/include/BpBroadPhaseUpdate.h
new file mode 100644
index 00000000..cf0d65a9
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevelAABB/include/BpBroadPhaseUpdate.h
@@ -0,0 +1,438 @@
+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+
+#ifndef BP_BROADPHASE_UPDATE_H
+#define BP_BROADPHASE_UPDATE_H
+
+#include "foundation/PxAssert.h"
+#include "foundation/PxUnionCast.h"
+#include "CmPhysXCommon.h"
+#include "PxBroadPhase.h"
+#include "Ps.h"
+
+namespace physx
+{
+
+namespace Bp
+{
+
+#if PX_USE_16_BIT_HANDLES
+	typedef PxU16 ShapeHandle;
+	typedef PxU16 BpHandle;
+#define BP_INVALID_BP_HANDLE	0xffff
+#else
+	typedef PxU32 ShapeHandle;
+	typedef PxU32 BpHandle;
+#define BP_INVALID_BP_HANDLE	0x3fffffff
+#endif
+
+#define ALIGN_SIZE_16(size) ((unsigned(size)+15)&(unsigned(~15)))
+
+
+	/*
+	\brief Encode a single float value with lossless encoding to integer
+	*/
+	PX_FORCE_INLINE PxU32 encodeFloat(PxU32 ir)
+	{
+		//we may need to check on -0 and 0
+		//But it should make no practical difference.
+		if(ir & PX_SIGN_BITMASK) //negative?
+			return ~ir;//reverse sequence of negative numbers
+		else
+			return ir | PX_SIGN_BITMASK; // flip sign
+	}
+
+	/*
+	\brief Encode a single float value with lossless encoding to integer
+	*/
+	PX_FORCE_INLINE PxU32 decodeFloat(PxU32 ir)
+	{
+		if(ir & PX_SIGN_BITMASK) //positive?
+			return ir & ~PX_SIGN_BITMASK; //flip sign
+		else
+			return ~ir; //undo reversal
+	}
+
+
+/**
+\brief Integer representation of PxBounds3 used by BroadPhase
+@see BroadPhaseUpdateData
+*/
+
+
+typedef PxU32 ValType;
+
+class IntegerAABB
+{
+public:
+
+	enum
+	{
+		MIN_X = 0,
+		MIN_Y,
+		MIN_Z,
+		MAX_X,
+		MAX_Y,
+		MAX_Z
+	};
+
+	IntegerAABB();
+
+	IntegerAABB(const PxBounds3& b, PxReal contactDistance)
+	{
+		encode(PxBounds3(b.minimum-PxVec3(contactDistance), b.maximum+PxVec3(contactDistance)));
+	}
+
+	/*
+	\brief Return the minimum along a specified axis
+	\param[in] i is the axis
+	*/
+	PX_FORCE_INLINE ValType	getMin(PxU32 i)	const	{	return (mMinMax)[MIN_X+i];	}
+
+	/*
+	\brief Return the maximum along a specified axis
+	\param[in] i is the axis
+	*/
+	PX_FORCE_INLINE ValType	getMax(PxU32 i)	const	{	return (mMinMax)[MAX_X+i];	}
+
+	/*
+	\brief Return one of the six min/max values of the bound 
+	\param[in] isMax determines whether a min or max value is returned
+	\param[in] index is the axis 
+	*/
+	PX_FORCE_INLINE ValType	getExtent(PxU32 isMax, PxU32 index) const
+	{
+		PX_ASSERT(isMax<=1);
+		return (mMinMax)[3*isMax+index];
+	}
+
+	/*
+	\brief Return the minimum on the x axis
+	*/
+	PX_FORCE_INLINE ValType getMinX() const { return mMinMax[MIN_X]; }
+
+	/*
+	\brief Return the minimum on the y axis
+	*/
+	PX_FORCE_INLINE ValType getMinY() const { return mMinMax[MIN_Y]; }
+
+	/*
+	\brief Return the minimum on the z axis
+	*/
+	PX_FORCE_INLINE ValType getMinZ() const { return mMinMax[MIN_Z]; }
+
+	/*
+	\brief Return the maximum on the x axis
+	*/
+	PX_FORCE_INLINE ValType getMaxX() const { return mMinMax[MAX_X]; }
+
+	/*
+	\brief Return the maximum on the y axis
+	*/
+	PX_FORCE_INLINE ValType getMaxY() const { return mMinMax[MAX_Y]; }
+
+	/*
+	\brief Return the maximum on the z axis
+	*/
+	PX_FORCE_INLINE ValType getMaxZ() const { return mMinMax[MAX_Z]; }
+
+	/*
+	\brief Encode float bounds so they are stored as integer bounds
+	\param[in] bounds is the bounds to be encoded 
+	\note The integer values of minima are always even, while the integer values of maxima are always odd
+	\note The encoding process masks off the last four bits for minima and masks on the last four bits for maxima.
+	This keeps the bounds constant when its shape is subjected to small global pose perturbations.  In turn, this helps 
+	reduce computational effort in the broadphase update by reducing the amount of sorting required on near-stationary 
+	bodies that are aligned along one or more axis.
+	@see decode
+	*/
+	PX_FORCE_INLINE	void encode(const PxBounds3& bounds)
+	{
+		const PxU32* PX_RESTRICT min = PxUnionCast<const PxU32*, const PxF32*>(&bounds.minimum.x);
+		const PxU32* PX_RESTRICT max = PxUnionCast<const PxU32*, const PxF32*>(&bounds.maximum.x);
+		//Avoid min=max by enforcing the rule that mins are even and maxs are odd.
+		mMinMax[MIN_X] = encodeFloatMin(min[0]);
+		mMinMax[MIN_Y] = encodeFloatMin(min[1]);
+		mMinMax[MIN_Z] = encodeFloatMin(min[2]);
+		mMinMax[MAX_X] = encodeFloatMax(max[0]) | (1<<2);
+		mMinMax[MAX_Y] = encodeFloatMax(max[1]) | (1<<2);
+		mMinMax[MAX_Z] = encodeFloatMax(max[2]) | (1<<2);
+	}
+
+	/*
+	\brief Decode from integer bounds to float bounds	
+	\param[out] bounds is the decoded float bounds
+	\note Encode followed by decode will produce a float bound larger than the original
+	due to the masking in encode.
+	@see encode
+	*/
+	PX_FORCE_INLINE	void decode(PxBounds3& bounds)	const
+	{
+		PxU32* PX_RESTRICT min = PxUnionCast<PxU32*, PxF32*>(&bounds.minimum.x);
+		PxU32* PX_RESTRICT max = PxUnionCast<PxU32*, PxF32*>(&bounds.maximum.x);
+		min[0] = decodeFloat(mMinMax[MIN_X]);
+		min[1] = decodeFloat(mMinMax[MIN_Y]);
+		min[2] = decodeFloat(mMinMax[MIN_Z]);
+		max[0] = decodeFloat(mMinMax[MAX_X]);
+		max[1] = decodeFloat(mMinMax[MAX_Y]);
+		max[2] = decodeFloat(mMinMax[MAX_Z]);
+	}
+
+	/*
+	\brief Encode a single minimum value from integer bounds to float bounds	
+	\note The encoding process masks off the last four bits for minima
+	@see encode
+	*/
+	static PX_FORCE_INLINE ValType encodeFloatMin(PxU32 source)
+	{
+		return ((encodeFloat(source) >> eGRID_SNAP_VAL) - 1) << eGRID_SNAP_VAL;
+	}
+
+	/*
+	\brief Encode a single maximum value from integer bounds to float bounds	
+	\note The encoding process masks on the last four bits for maxima
+	@see encode
+	*/
+	static PX_FORCE_INLINE ValType encodeFloatMax(PxU32 source)
+	{
+		return ((encodeFloat(source) >> eGRID_SNAP_VAL) + 1) << eGRID_SNAP_VAL;
+	}
+
+	/*
+	\brief Shift the encoded bounds by a specified vector
+	\param[in] shift is the vector used to shift the bounds
+	*/
+	PX_FORCE_INLINE void shift(const PxVec3& shift)
+	{
+		::physx::PxBounds3 elemBounds;
+		decode(elemBounds);
+		elemBounds.minimum -= shift;
+		elemBounds.maximum -= shift;
+		encode(elemBounds);
+	}
+
+	/*
+	\brief Test if this aabb lies entirely inside another aabb
+	\param[in] box is the other box
+	\return True if this aabb lies entirely inside box
+	*/
+	PX_INLINE bool isInside(const IntegerAABB& box) const
+	{
+		if(box.mMinMax[MIN_X]>mMinMax[MIN_X])	return false;
+		if(box.mMinMax[MIN_Y]>mMinMax[MIN_Y])	return false;
+		if(box.mMinMax[MIN_Z]>mMinMax[MIN_Z])	return false;
+		if(box.mMinMax[MAX_X]<mMinMax[MAX_X])	return false;
+		if(box.mMinMax[MAX_Y]<mMinMax[MAX_Y])	return false;
+		if(box.mMinMax[MAX_Z]<mMinMax[MAX_Z])	return false;
+		return true;
+	}
+
+	/*
+	\brief Test if this aabb and another intersect
+	\param[in] b is the other box
+	\return True if this aabb and b intersect
+	*/
+	PX_FORCE_INLINE bool intersects(const IntegerAABB& b) const
+	{
+		return !(b.mMinMax[MIN_X] > mMinMax[MAX_X] || mMinMax[MIN_X] > b.mMinMax[MAX_X] ||
+			b.mMinMax[MIN_Y] > mMinMax[MAX_Y] || mMinMax[MIN_Y] > b.mMinMax[MAX_Y] ||
+			b.mMinMax[MIN_Z] > mMinMax[MAX_Z] || mMinMax[MIN_Z] > b.mMinMax[MAX_Z]);
+	}
+
+	PX_FORCE_INLINE bool intersects1D(const IntegerAABB& b, const PxU32 axis) const
+	{
+		const PxU32 maxAxis = axis + 3;
+		return !(b.mMinMax[axis] > mMinMax[maxAxis] || mMinMax[axis] > b.mMinMax[maxAxis]);
+	}
+
+
+	/*
+	\brief Expand bounds to include another
+	\note This is used to compute the aggregate bounds of multiple shape bounds
+	\param[in] b is the bounds to be included
+	*/
+	PX_FORCE_INLINE void include(const IntegerAABB& b)
+	{
+		mMinMax[MIN_X] = PxMin(mMinMax[MIN_X], b.mMinMax[MIN_X]);
+		mMinMax[MIN_Y] = PxMin(mMinMax[MIN_Y], b.mMinMax[MIN_Y]);
+		mMinMax[MIN_Z] = PxMin(mMinMax[MIN_Z], b.mMinMax[MIN_Z]);
+		mMinMax[MAX_X] = PxMax(mMinMax[MAX_X], b.mMinMax[MAX_X]);
+		mMinMax[MAX_Y] = PxMax(mMinMax[MAX_Y], b.mMinMax[MAX_Y]);
+		mMinMax[MAX_Z] = PxMax(mMinMax[MAX_Z], b.mMinMax[MAX_Z]);
+	}
+
+	/*
+	\brief Set the bounds to (max, max, max), (min, min, min)
+	*/
+	PX_INLINE void setEmpty()
+	{
+		mMinMax[MIN_X] = mMinMax[MIN_Y] = mMinMax[MIN_Z] = 0xff7fffff;  //PX_IR(PX_MAX_F32);
+		mMinMax[MAX_X] = mMinMax[MAX_Y] = mMinMax[MAX_Z] = 0x00800000;	///PX_IR(0.0f);
+	}
+
+
+	ValType mMinMax[6];
+
+private:
+
+	enum
+	{
+		eGRID_SNAP_VAL = 4
+	};
+};
+
+PX_FORCE_INLINE ValType encodeMin(const PxBounds3& bounds, PxU32 axis, PxReal contactDistance)
+{
+	const PxReal val = bounds.minimum[axis] - contactDistance;
+	const PxU32 min = PxUnionCast<PxU32, PxF32>(val);
+	const PxU32 m = IntegerAABB::encodeFloatMin(min);
+	return m;
+
+}
+
+PX_FORCE_INLINE ValType encodeMax(const PxBounds3& bounds, PxU32 axis, PxReal contactDistance)
+{
+	const PxReal val = bounds.maximum[axis] + contactDistance;
+	const PxU32 max = PxUnionCast<PxU32, PxF32>(val);
+	const PxU32 m = IntegerAABB::encodeFloatMax(max) | (1<<2);
+	return m;
+}
+
+class BroadPhase;
+
+class BroadPhaseUpdateData
+{
+public:
+
+     /**
+	 \brief A structure detailing the changes to the collection of aabbs, whose overlaps are computed in the broadphase.
+	 The structure consists of per-object arrays of object bounds and object groups, and three arrays that index
+	 into the per-object arrays, denoting the bounds which are to be created, updated and removed in the broad phase.
+
+	 * each entry in the object arrays represents the same shape or aggregate from frame to frame.
+	 * each entry in an index array must be less than the capacity of the per-object arrays.
+	 * no index value may appear in more than one index array, and may not occur more than once in that array.
+
+	 An index value is said to be "in use" if it has appeared in a created list in a previous update, and has not
+	 since occurred in a removed list.
+
+	 \param[in] created an array of indices describing the bounds that must be inserted into the broadphase.
+	 Each index in the array must not be in use.
+
+	 \param[in] updated an array of indices (referencing the boxBounds and boxGroups arrays) describing the bounds
+	 that have moved since the last broadphase update. Each index in the array must be in use, and each object
+	 whose index is in use and whose AABB has changed must appear in the update list.
+
+	 \param[in] removed an array of indices describing the bounds that must be removed from the broad phase. Each index in
+	 the array must be in use.
+
+	 \param[in] boxBounds an array of bounds coordinates for the AABBs to be processed by the broadphase.
+
+	 An entry is valid if its values are integer bitwise representations of floating point numbers that satisfy max>min in each dimension,
+	 along with a further rule that minima(maxima) must have even(odd) values. 
+
+	 Each entry whose index is either in use or appears in the created array must be valid. An entry whose index is either not in use or
+	 appears in the removed array need not be valid.
+
+	 \param[in]  boxGroups an array of group ids, one for each bound, used for pair filtering.  Bounds with the same group id will not be
+	 reported as overlap pairs by the broad phase.  Zero is reserved for static bounds.
+
+	 Entries in this array are immutable: the only way to change the group of an object is to remove it from the broad phase and reinsert
+	 it at a different index (recall that each index must appear at most once in the created/updated/removed lists).
+
+	 \param[in]  boxesCapacity the length of the boxBounds and boxGroups arrays.
+
+	 @see BroadPhase::update
+	 */
+	BroadPhaseUpdateData(
+		const ShapeHandle* created, const PxU32 createdSize, 
+		const ShapeHandle* updated, const PxU32 updatedSize, 
+		const ShapeHandle* removed, const PxU32 removedSize, 
+		const PxBounds3* boxBounds, const ShapeHandle* boxGroups, const PxReal* boxContactDistances, const PxU32 boxesCapacity,
+		const bool stateChanged) :
+		mCreated		(created),
+		mCreatedSize	(createdSize),
+		mUpdated		(updated),
+		mUpdatedSize	(updatedSize),
+		mRemoved		(removed),
+		mRemovedSize	(removedSize),
+		mBoxBounds		(boxBounds),
+		mBoxGroups		(boxGroups),
+		mContactDistance(boxContactDistances),
+		mBoxesCapacity	(boxesCapacity),
+		mStateChanged	(stateChanged)
+	{
+	}
+
+	PX_FORCE_INLINE	const ShapeHandle*	getCreatedHandles()		const { return mCreated;			}
+	PX_FORCE_INLINE	PxU32				getNumCreatedHandles()	const { return mCreatedSize;		}
+
+	PX_FORCE_INLINE	const ShapeHandle*	getUpdatedHandles()		const { return mUpdated;			}
+	PX_FORCE_INLINE	PxU32				getNumUpdatedHandles()	const { return mUpdatedSize;		}
+
+	PX_FORCE_INLINE	const ShapeHandle*	getRemovedHandles()		const { return mRemoved;			}
+	PX_FORCE_INLINE	PxU32				getNumRemovedHandles()	const { return mRemovedSize;		}
+
+	PX_FORCE_INLINE	const PxBounds3*	getAABBs()				const { return mBoxBounds;			}
+	PX_FORCE_INLINE	const ShapeHandle*	getGroups()				const { return mBoxGroups;			}
+	PX_FORCE_INLINE	PxU32				getCapacity()			const { return mBoxesCapacity;		}
+
+	PX_FORCE_INLINE	const PxReal*		getContactDistance()	const { return mContactDistance;	}
+
+	PX_FORCE_INLINE	bool				getStateChanged()		const { return mStateChanged;		}
+
+#if PX_CHECKED
+	static bool isValid(const BroadPhaseUpdateData& updateData, const BroadPhase& bp);
+	bool isValid() const;
+#endif
+
+private:
+
+	const ShapeHandle*	mCreated;
+	PxU32				mCreatedSize;
+
+	const ShapeHandle*	mUpdated;
+	PxU32				mUpdatedSize;
+
+	const ShapeHandle*	mRemoved;
+	PxU32				mRemovedSize;
+
+	const PxBounds3*	mBoxBounds;
+	const ShapeHandle*	mBoxGroups;
+	const PxReal*		mContactDistance;
+	PxU32				mBoxesCapacity;
+	bool				mStateChanged;
+};
+
+} //namespace Bp
+
+} //namespace physx
+
+#endif //BP_BROADPHASE_UPDATE_H
diff --git a/PhysX_3.4/Source/LowLevelAABB/include/BpSimpleAABBManager.h b/PhysX_3.4/Source/LowLevelAABB/include/BpSimpleAABBManager.h
new file mode 100644
index 00000000..55901bf3
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevelAABB/include/BpSimpleAABBManager.h
@@ -0,0 +1,539 @@
+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+#ifndef BP_SIMPLEAABBMANAGER_H
+#define BP_SIMPLEAABBMANAGER_H
+
+#include "CmPhysXCommon.h"
+#include "BpBroadPhaseUpdate.h"
+#include "GuGeometryUnion.h"
+#include "CmBitMap.h"
+#include "CmTask.h"
+#include "PsAllocator.h"
+#include "GuBounds.h"
+#include "PsHashMap.h"
+#include "CmRadixSortBuffered.h"
+#include "PsFoundation.h"
+#include "BpAABBManagerTasks.h"
+#include "PsHashSet.h"
+
+
+/**
+\brief The maximum number of bounds allowed in an aggregate
+*/
+#define BP_MAX_AGGREGATE_BOUND_SIZE 128	//Max number of bounds in an aggregate bound.
+
+namespace physx
+{
+class PxcScratchAllocator;
+struct PxBroadPhaseType;
+
+namespace Cm
+{
+	class RenderOutput;
+	class EventProfiler;
+	class FlushPool;
+}
+
+namespace Bp
+{
+	typedef PxU32 BoundsIndex;
+	typedef PxU32 AggregateHandle;	// PT: currently an index in mAggregates array
+	typedef PxU32 ActorHandle;
+
+	struct BroadPhasePairReport;
+
+	struct VolumeBuckets
+	{
+		enum Enum
+		{
+			eSHAPE,
+			ePARTICLE,
+			eCLOTH,
+			eTRIGGER,
+			eCOUNT
+		};
+	};
+
+	/**
+	\brief Changes to the configuration of overlap pairs are reported as void* pairs.
+	\note Each void* in the pair corresponds to the void* passed to AABBManager::createVolume.
+	@see AABBManager::createVolume, AABBManager::getCreatedOverlaps, AABBManager::getDestroyedOverlaps
+	*/
+	struct AABBOverlap
+	{
+		PX_FORCE_INLINE AABBOverlap()	{}
+		PX_FORCE_INLINE AABBOverlap(void* userData0, void* userData1, ActorHandle pairHandle) : mUserData0(userData0), mUserData1(userData1), mPairHandle(pairHandle)	{}
+
+		void*	mUserData0;
+		void*	mUserData1;
+		union
+		{
+			ActorHandle	mPairHandle;		//For created pairs, this is the index into the pair in the pair manager
+			void*		mUserData;			//For deleted pairs, this is the user data written by the application to the pair
+		};
+	};
+
+	/*
+	\brief AABBManager volumes with the same filter group value are guaranteed never to generate an overlap pair.
+	\note To ensure that static pairs never overlap, add static shapes with eSTATICS.
+	To ensure that particle bounds never overlap, add particle bounds with ePARTICLES.
+	To ensure that cloth bounds never overlap, add cloth bounds with  eCLOTH.   
+	To ensure that cloth bounds never overlap with cloth or particle bounds, use eCLOTH_NO_PARTICLE_INTERACTION.
+	The value eDYNAMICS_BASE provides a minimum recommended group value for dynamic shapes.
+	If dynamics shapes are assigned group values greater than or equal to eDYNAMICS_BASE then
+	they are allowed to generate broadphase overlaps with particles and statics, and other dynamic shapes provided 
+	they have different group values.
+	@see AABBManager::createVolume
+	*/
+	struct FilterGroup
+	{
+		enum Enum
+		{
+			eSTATICS,
+			ePARTICLES,
+			eCLOTH_NO_PARTICLE_INTERACTION = ePARTICLES,
+			eCLOTH,
+			eDYNAMICS_BASE
+		};
+	};
+
+	class BoundsArray : public Ps::UserAllocated
+	{
+		PX_NOCOPY(BoundsArray)
+
+	public:
+		BoundsArray(Ps::VirtualAllocator& allocator) : mBounds(allocator)
+		{
+		}
+
+		PX_FORCE_INLINE void initEntry(PxU32 index)
+		{
+			const PxU32 oldCapacity = mBounds.capacity();
+			if(index>=oldCapacity)
+			{
+				const PxU32 newCapacity = Ps::nextPowerOfTwo(index);
+				mBounds.reserve(newCapacity);
+				mBounds.forceSize_Unsafe(newCapacity);
+			}
+		}
+
+		PX_FORCE_INLINE void updateBounds(const PxTransform& transform, const Gu::GeometryUnion& geom, PxU32 index, bool extrudeHeightfieldBounds)
+		{
+			Gu::computeBounds(mBounds[index], geom.getGeometry(), transform, 0.0f, NULL, 1.0f, extrudeHeightfieldBounds);
+			mHasAnythingChanged = true;
+		}
+
+
+		PX_FORCE_INLINE const PxBounds3& getBounds(PxU32 index) const
+		{
+			return mBounds[index];
+		}
+
+		PX_FORCE_INLINE void setBounds(const PxBounds3& bounds, PxU32 index)
+		{
+//			PX_CHECK_AND_RETURN(bounds.isValid() && !bounds.isEmpty(), "BoundsArray::setBounds - illegal bounds\n");
+			mBounds[index] = bounds;
+			mHasAnythingChanged = true;
+		}
+
+		PX_FORCE_INLINE const PxBounds3* begin()	const
+		{
+			return mBounds.begin();
+		}
+
+		PX_FORCE_INLINE PxBounds3* begin()
+		{
+			return mBounds.begin();
+		}
+
+		PX_FORCE_INLINE Ps::Array<PxBounds3, Ps::VirtualAllocator>& getBounds()
+		{
+			return mBounds;
+		}
+
+		PX_FORCE_INLINE PxU32 getCapacity()
+		{
+			return mBounds.size();
+		}
+
+		void shiftOrigin(const PxVec3& shift)
+		{
+			// we shift some potential NaNs here because we don't know what's active, but should be harmless
+			for(PxU32 i=0;i<mBounds.size();i++)
+			{
+				mBounds[i].minimum -= shift;
+				mBounds[i].maximum -= shift;
+			}
+			mHasAnythingChanged = true;
+		}
+
+		PX_FORCE_INLINE	bool hasChanged()	const	{ return mHasAnythingChanged;	}
+		PX_FORCE_INLINE	void resetChangedState()	{ mHasAnythingChanged = false;	}
+		PX_FORCE_INLINE	void setChangedState()		{ mHasAnythingChanged = true;	}
+
+	private:
+		Ps::Array<PxBounds3, Ps::VirtualAllocator>	mBounds;
+		bool										mHasAnythingChanged;
+	};
+
+	struct VolumeData
+	{ 
+		void*	mUserData;
+
+		PX_FORCE_INLINE VolumeData() : mUserData(NULL)
+		{
+		}
+
+		PX_FORCE_INLINE	void			reset()
+										{
+											mAggregate = PX_INVALID_U32;
+											mUserData = NULL;
+										}
+
+		PX_FORCE_INLINE	void			setSingleActor()						{ mAggregate = PX_INVALID_U32;				}
+		PX_FORCE_INLINE	bool			isSingleActor()	const					{ return mAggregate == PX_INVALID_U32;		}
+
+		PX_FORCE_INLINE void			setUserData(void* userData)				{ mUserData = userData; }
+
+		PX_FORCE_INLINE void*			getUserData() const						{ return reinterpret_cast<void*>(reinterpret_cast<size_t>(mUserData)& (~size_t(0xF))); }
+
+		PX_FORCE_INLINE void			setVolumeType(PxU8 volumeType)			{ PX_ASSERT(volumeType < 16);  mUserData = reinterpret_cast<void*>(reinterpret_cast<size_t>(getUserData()) | static_cast<size_t>(volumeType)); }
+		PX_FORCE_INLINE PxU8			getVolumeType() const					{ return (reinterpret_cast<size_t>(mUserData)& 0xF); }
+
+		PX_FORCE_INLINE	void			setAggregate(AggregateHandle handle)
+		{
+			PX_ASSERT(handle!=PX_INVALID_U32);
+			mAggregate = (handle<<1)|1;
+		}
+		PX_FORCE_INLINE	bool			isAggregate()	const					{ return !isSingleActor() && ((mAggregate&1)!=0);	}
+
+		PX_FORCE_INLINE	void			setAggregated(AggregateHandle handle)
+		{
+			PX_ASSERT(handle!=PX_INVALID_U32);
+			mAggregate = (handle<<1)|0;
+		}
+
+		PX_FORCE_INLINE	bool			isAggregated()	const
+		{
+			return !isSingleActor() && ((mAggregate&1)==0);
+		}
+
+		PX_FORCE_INLINE	AggregateHandle	getAggregateOwner()	const		{ return mAggregate>>1;					}
+		PX_FORCE_INLINE	AggregateHandle	getAggregate()		const		{ return mAggregate>>1;					}
+
+		private:
+		// PT: TODO: consider moving this to a separate array, which wouldn't be allocated at all for people not using aggregates.
+		// PT: current encoding:
+		// aggregate == PX_INVALID_U32 => single actor
+		// aggregate != PX_INVALID_U32 => aggregate index<<1|LSB. LSB==1 for aggregates, LSB==0 for aggregated actors.
+		AggregateHandle mAggregate;
+	};
+
+	// PT: TODO: revisit this.....
+	class Aggregate;
+	class PersistentPairs;
+	class PersistentActorAggregatePair;
+	class PersistentAggregateAggregatePair;
+	class PersistentSelfCollisionPairs;
+	struct AggPair
+	{
+		PX_FORCE_INLINE	AggPair(ShapeHandle index0, ShapeHandle index1) : mIndex0(index0), mIndex1(index1)	{}
+		ShapeHandle	mIndex0;
+		ShapeHandle	mIndex1;
+
+		PX_FORCE_INLINE bool operator==(const AggPair& p) const
+		{
+			return (p.mIndex0 == mIndex0) && (p.mIndex1 == mIndex1);
+		}
+	};
+	typedef Ps::CoalescedHashMap<AggPair, PersistentPairs*> AggPairMap;
+
+	// PT: TODO: isn't there a generic pair structure somewhere? refactor with AggPair anyway
+	struct Pair
+	{
+		PX_FORCE_INLINE	Pair(PxU32 id0, PxU32 id1) : mID0(id0), mID1(id1)	{}
+		PX_FORCE_INLINE Pair(){}
+
+			PX_FORCE_INLINE bool operator<(const Pair& p) const
+			{
+				const PxU64 value0 = *reinterpret_cast<const PxU64*>(this);
+				const PxU64 value1 = *reinterpret_cast<const PxU64*>(&p);
+				return value0 < value1;
+			}
+
+			PX_FORCE_INLINE bool operator==(const Pair& p) const
+			{
+				return (p.mID0 == mID0) && (p.mID1 == mID1);
+			}
+
+			PX_FORCE_INLINE bool operator!=(const Pair& p) const
+			{
+				return (p.mID0 != mID0) || (p.mID1 != mID1);
+			}
+
+		PxU32	mID0;
+		PxU32	mID1;
+	};
+
+
+	/**
+	\brief A structure responsible for:
+	* storing an aabb representation for each active shape in the related scene
+	* managing the creation/removal of aabb representations when their related shapes are created/removed
+	* updating all aabbs that require an update due to modification of shape geometry or transform
+	* updating the aabb of all aggregates from the union of the aabbs of all shapes that make up each aggregate
+	* computing and reporting the incremental changes to the set of overlapping aabb pairs 
+	*/
+	class SimpleAABBManager : public Ps::UserAllocated
+	{
+		PX_NOCOPY(SimpleAABBManager)
+	public:
+
+		SimpleAABBManager(BroadPhase& bp, BoundsArray& boundsArray, Ps::Array<PxReal, Ps::VirtualAllocator>& contactDistance, PxU32 maxNbAggregates, PxU32 maxNbShapes, Ps::VirtualAllocator& allocator, PxU64 contextID);
+
+		void	destroy();
+
+		AggregateHandle	createAggregate(BoundsIndex index, void* userData, const bool selfCollisions);
+		BoundsIndex		destroyAggregate(AggregateHandle aggregateHandle);
+
+		bool			addBounds(BoundsIndex index, PxReal contactDistance, PxU32 group, void* userdata, AggregateHandle aggregateHandle, PxU8 volumeType);
+		void			removeBounds(BoundsIndex index);
+
+		void			setContactOffset(BoundsIndex handle, PxReal offset)
+		{
+			// PT: this works even for aggregated shapes, since the corresponding bit will also be set in the 'updated' map.
+			mContactDistance.begin()[handle] = offset;
+			mPersistentStateChanged = true;
+			mChangedHandleMap.growAndSet(handle);
+		}
+
+		void setVolumeType(BoundsIndex handle, PxU8 volumeType)
+		{
+			mVolumeData[handle].setVolumeType(volumeType);
+		}
+
+		// PT: TODO: revisit name: we don't "update AABBs" here anymore
+		void			updateAABBsAndBP(	PxU32 numCpuTasks,
+											Cm::FlushPool& flushPool,
+											PxcScratchAllocator* scratchAllocator,
+											bool hasContactDistanceUpdated,
+											PxBaseTask* continuation,
+											PxBaseTask* narrowPhaseUnlockTask);
+
+		void			finalizeUpdate(		PxU32 numCpuTasks,
+											PxcScratchAllocator* scratchAllocator,
+											PxBaseTask* continuation,
+											PxBaseTask* narrowPhaseUnlockTask);
+
+		AABBOverlap*				getCreatedOverlaps(PxU32 type, PxU32& count)
+		{
+			PX_ASSERT(type < VolumeBuckets::eCOUNT);
+			count = mCreatedOverlaps[type].size();
+			return mCreatedOverlaps[type].begin();
+		}
+
+		AABBOverlap*				getDestroyedOverlaps(PxU32 type, PxU32& count)
+		{
+			PX_ASSERT(type < VolumeBuckets::eCOUNT);
+			count = mDestroyedOverlaps[type].size();
+			return mDestroyedOverlaps[type].begin();
+		}
+
+		void						freeBuffers();
+
+		void**						getOutOfBoundsObjects(PxU32& nbOutOfBoundsObjects)
+		{
+			nbOutOfBoundsObjects = mOutOfBoundsObjects.size();
+			return mOutOfBoundsObjects.begin();
+		}
+
+		void						clearOutOfBoundsObjects()
+		{
+			mOutOfBoundsObjects.clear();
+		}
+
+		void**						getOutOfBoundsAggregates(PxU32& nbOutOfBoundsAggregates)
+		{
+			nbOutOfBoundsAggregates = mOutOfBoundsAggregates.size();
+			return mOutOfBoundsAggregates.begin();
+		}
+
+		void						clearOutOfBoundsAggregates()
+		{
+			mOutOfBoundsAggregates.clear();
+		}
+
+		void						shiftOrigin(const PxVec3& shift);
+
+		void						visualize(Cm::RenderOutput& out);
+
+		PX_FORCE_INLINE	BroadPhase*					getBroadPhase()				const	{ return &mBroadPhase;				}
+		PX_FORCE_INLINE	BoundsArray&				getBoundsArray()					{ return mBoundsArray;				}
+		PX_FORCE_INLINE	PxU32						getNbActiveAggregates()		const	{ return mNbAggregates;				}
+		PX_FORCE_INLINE	const float*				getContactDistances()		const	{ return mContactDistance.begin();	}
+		PX_FORCE_INLINE	Cm::BitMapPinned&			getChangedAABBMgActorHandleMap()	{ return mChangedHandleMap;			}
+
+		PX_FORCE_INLINE void*						getUserData(const BoundsIndex index) const { if (index < mVolumeData.size()) return mVolumeData[index].getUserData(); return NULL; }
+		PX_FORCE_INLINE	PxU64						getContextId()				const	{ return mContextID;				}
+
+	private:
+		void reserveShapeSpace(PxU32 nbShapes);
+		void postBroadPhase(PxBaseTask*);
+
+		Cm::DelegateTask<SimpleAABBManager, &SimpleAABBManager::postBroadPhase>			mPostBroadPhase;
+
+		FinalizeUpdateTask				mFinalizeUpdateTask;
+
+		// PT: we have bitmaps here probably to quickly handle added/removed objects during same frame.
+		// PT: TODO: consider replacing with plain arrays (easier to parse, already existing below, etc)
+		Cm::BitMap					mAddedHandleMap;		// PT: indexed by BoundsIndex
+		Cm::BitMap					mRemovedHandleMap;		// PT: indexed by BoundsIndex
+		Cm::BitMapPinned			mChangedHandleMap;
+
+		PX_FORCE_INLINE void removeBPEntry(BoundsIndex index)	// PT: only for objects passed to the BP
+		{
+			if(mAddedHandleMap.test(index))		// PT: if object had been added this frame...
+				mAddedHandleMap.reset(index);	// PT: ...then simply revert the previous operation locally (it hasn't been passed to the BP yet).
+			else
+				mRemovedHandleMap.set(index);	// PT: else we need to remove it from the BP
+		}
+
+		// PT: TODO: when do we need 'Ps::VirtualAllocator' and when don't we? When memory is passed to GPU BP?
+		// PT: TODO: this group array won't compile on platforms where PX_USE_16_BIT_HANDLES is true, because it's silently
+		// passed to BroadPhaseUpdateData, which expects ShapeHandle for groups (not PxU32). I cannot change it immediately
+		// because of the comment below, saying it sticks PX_INVALID_U32 in there. Not sure if 0xffff would work.
+		//ML: we create mGroups and mContactDistance in the SimpleAABBManager constructor. Ps::Array will take Ps::VirtualAllocator as a parameter. Therefore, if GPU BP is using,
+		//we will passed a pinned host memory allocator, otherwise, we will just pass a normal allocator.
+		Ps::Array<PxU32,	Ps::VirtualAllocator>				mGroups;				// NOTE: we stick PX_INVALID_U32 in this slot to indicate that the entry is invalid (removed or never inserted.)
+		Ps::Array<PxReal, Ps::VirtualAllocator>& 				mContactDistance;
+		Ps::Array<VolumeData>									mVolumeData;
+
+		PX_FORCE_INLINE void initEntry(BoundsIndex index, PxReal contactDistance, PxU32 group, void* userData)
+		{
+			if(index >= mVolumeData.size())
+				reserveShapeSpace(index);
+
+			// PT: TODO: why is this needed at all? Why aren't size() and capacity() enough?
+			mUsedSize = PxMax(index+1, mUsedSize);
+
+			PX_ASSERT(group != PX_INVALID_U32);	// PT: we use group == PX_INVALID_U32 to mark removed/invalid entries
+			mGroups[index] = group;
+			mContactDistance.begin()[index] = contactDistance;
+			mVolumeData[index].setUserData(userData);
+		}
+
+		PX_FORCE_INLINE void resetEntry(BoundsIndex index)
+		{
+			mGroups[index] = PX_INVALID_U32;
+			mContactDistance.begin()[index] = 0.0f;
+			mVolumeData[index].reset();
+		}
+
+		// PT: TODO: remove confusion between BoundsIndex and ShapeHandle here!
+		Ps::Array<ShapeHandle, Ps::VirtualAllocator>			mAddedHandles;
+		Ps::Array<ShapeHandle, Ps::VirtualAllocator>			mUpdatedHandles;
+		Ps::Array<ShapeHandle, Ps::VirtualAllocator>			mRemovedHandles;
+
+		BroadPhase&					mBroadPhase;
+		BoundsArray&				mBoundsArray;
+
+		Ps::Array<void*>			mOutOfBoundsObjects;
+		Ps::Array<void*>			mOutOfBoundsAggregates;
+		Ps::Array<AABBOverlap>		mCreatedOverlaps[VolumeBuckets::eCOUNT];
+		Ps::Array<AABBOverlap>		mDestroyedOverlaps[VolumeBuckets::eCOUNT];
+
+		PxcScratchAllocator*		mScratchAllocator;
+
+		PxBaseTask*					mNarrowPhaseUnblockTask;
+		PxU32						mUsedSize;				// highest used value + 1
+		bool						mOriginShifted;
+		bool						mPersistentStateChanged;
+
+		PxU32						mNbAggregates;
+		PxU32						mFirstFreeAggregate;
+		Ps::Array<Aggregate*>		mAggregates;		// PT: indexed by AggregateHandle
+		Ps::Array<Aggregate*>		mDirtyAggregates;
+
+		PxU32						mTimestamp;
+
+		AggPairMap					mActorAggregatePairs;
+		AggPairMap					mAggregateAggregatePairs;
+
+		// PT: TODO: even in the 3.4 trunk this stuff is a clumsy mess: groups are "BpHandle" suddenly passed
+		// to BroadPhaseUpdateData as "ShapeHandle".
+		//Free aggregate group ids.
+		BpHandle					mAggregateGroupTide;
+		Ps::Array<BpHandle>			mFreeAggregateGroups;	// PT: TODO: remove this useless array
+
+		Ps::HashSet<Pair>			mCreatedPairs;
+
+		PxU64						mContextID;
+
+		PX_FORCE_INLINE Aggregate* getAggregateFromHandle(AggregateHandle handle)
+		{
+			PX_ASSERT(handle<mAggregates.size());
+			return mAggregates[handle];
+		}
+
+		PX_FORCE_INLINE void		releaseAggregateGroup(const BpHandle group) 
+		{
+			PX_ASSERT(group != BP_INVALID_BP_HANDLE);
+			mFreeAggregateGroups.pushBack(group);
+		}
+
+		PX_FORCE_INLINE BpHandle	getAggregateGroup()
+		{
+			BpHandle group;
+			if(mFreeAggregateGroups.size())
+				group = mFreeAggregateGroups.popBack();
+			else
+				group = mAggregateGroupTide--;
+			PX_ASSERT(group!=BP_INVALID_BP_HANDLE);
+			return group;
+		}
+
+		void startAggregateBoundsComputationTasks(PxU32 nbToGo, PxU32 numCpuTasks, Cm::FlushPool& flushPool);
+		PersistentActorAggregatePair* createPersistentActorAggregatePair(ShapeHandle volA, ShapeHandle volB);
+		PersistentAggregateAggregatePair* createPersistentAggregateAggregatePair(ShapeHandle volA, ShapeHandle volB);
+		void updatePairs(PersistentPairs& p);
+		void handleOriginShift();
+		public:
+		void processBPCreatedPair(const BroadPhasePairReport& pair);
+		void processBPDeletedPair(const BroadPhasePairReport& pair);
+//		bool checkID(ShapeHandle id);
+		friend class PersistentActorAggregatePair;
+		friend class PersistentAggregateAggregatePair;
+	};
+
+} //namespace Bp
+
+} //namespace physx
+
+#endif //BP_AABBMANAGER_H